[0.2.3][Hydra Migration] Made agents to be of type Dict[str, AgentCon…

…fig] and added migration readme (#1007) * made habitat.simulator.agents be a Dict[str, AgentConfig] * addressed comments * refactored sim agents configuration * moved rearrange agents declarations to agents folder; finised agents configuration updates; updated docs * updated get_config import * Cfg sys migration readme (#2) * added habitat-lab config readme * addressed most of the comments * added main_agent alias * renamed habitat config reagme and added baselines config readme * Update habitat-lab/habitat/config/default.py Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com> * added desctiption for the agents_order field * added a dot :) Co-authored-by: Vincent-Pierre BERGES <28320361+vincentpierre@users.noreply.github.com>
facebookresearch · Nov 29, 2022 · b40736f · b40736f
1 parent 39eca95
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diff --git a/docs/pages/habitat-lab-demo.rst b/docs/pages/habitat-lab-demo.rst
@@ -102,6 +102,7 @@ the config object.
     import numpy as np
     from PIL import Image
     from habitat_sim.utils.common import d3_40_colors_rgb
+    from habitat.config.default import get_agent_config
     from habitat.config.default_structured_configs import HabitatSimSemanticSensorConfig
 
     def display_sample(rgb_obs, semantic_obs, depth_obs):
@@ -128,7 +129,8 @@ the config object.
     config = habitat.get_config(config_paths="benchmark/nav/pointnav/pointnav_mp3d.yaml")
     with read_write(config):
         config.habitat.dataset.split = "val"
-        config.habitat.simulator.agent_0.sim_sensors.update(
+        agent_config = get_agent_config(sim_config=config.habitat.simulator)
+        agent_config.sim_sensors.update(
             {"semantic_sensor": HabitatSimSemanticSensorConfig(height=256, width=256)}
         )
         config.habitat.simulator.turn_angle = 30

diff --git a/docs/pages/view-transform-warp.rst b/docs/pages/view-transform-warp.rst
@@ -22,6 +22,7 @@ validate that transformation comparing projected and original views.
 
         import habitat
         from habitat.config import read_write
+        from habitat.config.default import get_agent_config
 
         import torch.nn.functional as F
         import torch
@@ -31,14 +32,15 @@ validate that transformation comparing projected and original views.
         config = habitat.get_config(config_paths="benchmark/nav/pointnav/pointnav_habitat_test.yaml")
         with read_write(config):
             config.habitat.dataset.split = "val"
-            config.habitat.simulator.agent_0.sim_sensors.depth_sensor.normalize_depth = False
+            agent_config = get_agent_config(sim_config=config.habitat.simulator)
+            agent_config.sim_sensors.depth_sensor.normalize_depth = False
 
         # Intrinsic parameters, assuming width matches height. Requires a simple refactor otherwise
-        W = config.habitat.simulator.agent_0.sim_sensors.depth_sensor.width
-        H = config.habitat.simulator.agent_0.sim_sensors.depth_sensor.height
+        W = agent_config.sim_sensors.depth_sensor.width
+        H = agent_config.sim_sensors.depth_sensor.height
 
         assert(W == H)
-        hfov = float(config.habitat.simulator.agent_0.sim_sensors.depth_sensor.hfov) * np.pi / 180.
+        hfov = float(agent_config.sim_sensors.depth_sensor.hfov) * np.pi / 180.
 
 
         env = habitat.Env(config=config)

diff --git a/examples/interactive_play.py b/examples/interactive_play.py
@@ -55,6 +55,7 @@
 
 import habitat
 import habitat.tasks.rearrange.rearrange_task
+from habitat.config.default import get_agent_config
 from habitat.config.default_structured_configs import (
     GfxReplayMeasureMeasurementConfig,
     ThirdRGBSensorConfig,
@@ -593,7 +594,8 @@ def has_pygame():
 
         if not args.same_task:
             sim_config.debug_render = True
-            sim_config.agent_0.sim_sensors.update(
+            agent_config = get_agent_config(sim_config=sim_config)
+            agent_config.sim_sensors.update(
                 {
                     "third_rgb_sensor": ThirdRGBSensorConfig(
                         height=args.play_cam_res, width=args.play_cam_res

diff --git a/examples/new_actions.py b/examples/new_actions.py
@@ -150,7 +150,7 @@ def main():
     HabitatSimActions.extend_action_space("STRAFE_RIGHT")
 
     config = habitat.get_config(
-        config_paths="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
+        config_path="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
     )
     with habitat.config.read_write(config):
         # Add a simple action config to the config.habitat.task.actions dictionary

diff --git a/examples/register_new_sensors_and_measures.py b/examples/register_new_sensors_and_measures.py
@@ -100,7 +100,7 @@ class AgentPositionSensorConfig(LabSensorConfig):
 def main():
     # Get the default config node
     config = habitat.get_config(
-        config_paths="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
+        config_path="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
     )
     with habitat.config.read_write(config):
         my_value = 5

diff --git a/examples/shortest_path_follower_example.py b/examples/shortest_path_follower_example.py
@@ -44,7 +44,7 @@ def draw_top_down_map(info, output_size):
 
 def shortest_path_example():
     config = habitat.get_config(
-        config_paths="benchmark/nav/pointnav/pointnav_habitat_test.yaml",
+        config_path="benchmark/nav/pointnav/pointnav_habitat_test.yaml",
         overrides=[
             "+habitat/task/measurements@habitat.task.measurements.top_down_map=top_down_map"
         ],

diff --git a/examples/tutorials/colabs/Habitat2_Quickstart.ipynb b/examples/tutorials/colabs/Habitat2_Quickstart.ipynb
@@ -19,6 +19,7 @@
     "# Play a teaser video\n",
     "from dataclasses import dataclass\n",
     "\n",
+    "from habitat.config.default import get_agent_config\n",
     "from habitat.config.default_structured_configs import (\n",
     "    MeasurementConfig,\n",
     "    ThirdRGBSensorConfig,\n",
@@ -99,7 +100,8 @@
     "    # Added settings to make rendering higher resolution for better visualization\n",
     "    with habitat.config.read_write(config):\n",
     "        config.habitat.simulator.concur_render = False\n",
-    "        config.habitat.simulator.agent_0.sim_sensors.update(\n",
+    "        agent_config = get_agent_config(sim_config=config.habitat.simulator)\n",
+    "        agent_config.sim_sensors.update(\n",
     "            {\"third_rgb_sensor\": ThirdRGBSensorConfig(height=512, width=512)}\n",
     "        )\n",
     "    return config\n",
@@ -413,9 +415,8 @@
     "\n",
     "defaults:\n",
     "  - /habitat: habitat_config_base\n",
-    "  - /agent@habitat.simulator.agent_0: agent_base\n",
-    "  - /habitat/simulator/sim_sensors:\n",
-    "    - head_rgb_sensor\n",
+    "  - /habitat/simulator/agents@habitat.simulator.agents.main_agent: agent_base\n",
+    "  - /habitat/simulator/sim_sensors@habitat.simulator.agents.main_agent.sim_sensors.head_rgb_sensor: head_rgb_sensor\n",
     "  - /habitat/task: task_config_base\n",
     "  - /habitat/task/actions:\n",
     "    - arm_action\n",
@@ -486,18 +487,19 @@
     "    action_space_config: v0\n",
     "    concur_render: False\n",
     "    auto_sleep: False\n",
-    "    agent_0:\n",
-    "      height: 1.5\n",
-    "      is_set_start_state: False\n",
-    "      radius: 0.1\n",
-    "      sim_sensors:\n",
-    "        head_rgb_sensor:\n",
-    "          height: 128\n",
-    "          width: 128\n",
-    "      start_position: [0, 0, 0]\n",
-    "      start_rotation: [0, 0, 0, 1]\n",
-    "      robot_urdf: ./data/robots/hab_fetch/robots/hab_fetch.urdf\n",
-    "      robot_type: \"FetchRobot\"\n",
+    "    agents:\n",
+    "      main_agent:\n",
+    "        height: 1.5\n",
+    "        is_set_start_state: False\n",
+    "        radius: 0.1\n",
+    "        sim_sensors:\n",
+    "          head_rgb_sensor:\n",
+    "            height: 128\n",
+    "            width: 128\n",
+    "        start_position: [0, 0, 0]\n",
+    "        start_rotation: [0, 0, 0, 1]\n",
+    "        robot_urdf: ./data/robots/hab_fetch/robots/hab_fetch.urdf\n",
+    "        robot_type: \"FetchRobot\"\n",
     "\n",
     "    # Agent setup\n",
     "    # ARM_REST: [0.6, 0.0, 0.9]\n",

diff --git a/examples/tutorials/colabs/Habitat_Lab.ipynb b/examples/tutorials/colabs/Habitat_Lab.ipynb
@@ -136,7 +136,7 @@
    "source": [
     "if __name__ == \"__main__\":\n",
     "    config = habitat.get_config(\n",
-    "        config_paths=\"./test/habitat_all_sensors_test.yaml\"\n",
+    "        config_path=\"./test/habitat_all_sensors_test.yaml\"\n",
     "    )\n",
     "\n",
     "    try:\n",
@@ -321,7 +321,7 @@
    "source": [
     "if __name__ == \"__main__\":\n",
     "    config = habitat.get_config(\n",
-    "        config_paths=\"./test/habitat_all_sensors_test.yaml\"\n",
+    "        config_path=\"./test/habitat_all_sensors_test.yaml\"\n",
     "    )\n",
     "\n",
     "\n",
@@ -434,7 +434,7 @@
    "source": [
     "if __name__ == \"__main__\":\n",
     "    config = habitat.get_config(\n",
-    "        config_paths=\"./test/habitat_all_sensors_test.yaml\"\n",
+    "        config_path=\"./test/habitat_all_sensors_test.yaml\"\n",
     "    )\n",
     "\n",
     "    from habitat.config.default_structured_configs import LabSensorConfig\n",

diff --git a/examples/tutorials/nb_python/Habitat2_Quickstart.py b/examples/tutorials/nb_python/Habitat2_Quickstart.py
@@ -29,6 +29,7 @@
 # Play a teaser video
 from dataclasses import dataclass
 
+from habitat.config.default import get_agent_config
 from habitat.config.default_structured_configs import (
     MeasurementConfig,
     ThirdRGBSensorConfig,
@@ -92,7 +93,8 @@ def insert_render_options(config):
     # Added settings to make rendering higher resolution for better visualization
     with habitat.config.read_write(config):
         config.habitat.simulator.concur_render = False
-        config.habitat.simulator.agent_0.sim_sensors.update(
+        agent_config = get_agent_config(sim_config=config.habitat.simulator)
+        agent_config.sim_sensors.update(
             {"third_rgb_sensor": ThirdRGBSensorConfig(height=512, width=512)}
         )
     return config
@@ -362,9 +364,8 @@ class NavPickSuccessMeasurementConfig(MeasurementConfig):
 
 defaults:
   - /habitat: habitat_config_base
-  - /agent@habitat.simulator.agent_0: agent_base
-  - /habitat/simulator/sim_sensors:
-    - head_rgb_sensor
+  - /habitat/simulator/agents@habitat.simulator.agents.main_agent: agent_base
+  - /habitat/simulator/sim_sensors@habitat.simulator.agents.main_agent.sim_sensors.head_rgb_sensor: head_rgb_sensor
   - /habitat/task: task_config_base
   - /habitat/task/actions:
     - arm_action
@@ -435,18 +436,19 @@ class NavPickSuccessMeasurementConfig(MeasurementConfig):
     action_space_config: v0
     concur_render: False
     auto_sleep: False
-    agent_0:
-      height: 1.5
-      is_set_start_state: False
-      radius: 0.1
-      sim_sensors:
-        head_rgb_sensor:
-          height: 128
-          width: 128
-      start_position: [0, 0, 0]
-      start_rotation: [0, 0, 0, 1]
-      robot_urdf: ./data/robots/hab_fetch/robots/hab_fetch.urdf
-      robot_type: "FetchRobot"
+    agents:
+      main_agent:
+        height: 1.5
+        is_set_start_state: False
+        radius: 0.1
+        sim_sensors:
+          head_rgb_sensor:
+            height: 128
+            width: 128
+        start_position: [0, 0, 0]
+        start_rotation: [0, 0, 0, 1]
+        robot_urdf: ./data/robots/hab_fetch/robots/hab_fetch.urdf
+        robot_type: "FetchRobot"
 
     # Agent setup
     # ARM_REST: [0.6, 0.0, 0.9]

diff --git a/examples/tutorials/nb_python/Habitat_Lab.py b/examples/tutorials/nb_python/Habitat_Lab.py
@@ -117,7 +117,7 @@ def display_sample(
 # %%
 if __name__ == "__main__":
     config = habitat.get_config(
-        config_paths="./test/habitat_all_sensors_test.yaml"
+        config_path="./test/habitat_all_sensors_test.yaml"
     )
 
     try:
@@ -245,7 +245,7 @@ def display_sample(
 # %%
 if __name__ == "__main__":
     config = habitat.get_config(
-        config_paths="./test/habitat_all_sensors_test.yaml"
+        config_path="./test/habitat_all_sensors_test.yaml"
     )
 
 
@@ -338,7 +338,7 @@ def get_observation(self, observations, *args, episode, **kwargs):
 # %%
 if __name__ == "__main__":
     config = habitat.get_config(
-        config_paths="./test/habitat_all_sensors_test.yaml"
+        config_path="./test/habitat_all_sensors_test.yaml"
     )
 
     from habitat.config.default_structured_configs import LabSensorConfig

diff --git a/examples/visualization_examples.py b/examples/visualization_examples.py
@@ -81,7 +81,7 @@ def example_pointnav_draw_target_birdseye_view_agent_on_border():
 
 def example_get_topdown_map():
     config = habitat.get_config(
-        config_paths="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
+        config_path="benchmark/nav/pointnav/pointnav_habitat_test.yaml"
     )
     dataset = habitat.make_dataset(
         id_dataset=config.habitat.dataset.type, config=config.habitat.dataset

diff --git a/examples/vln_reference_path_follower_example.py b/examples/vln_reference_path_follower_example.py
@@ -48,7 +48,7 @@ def reference_path_example(mode):
     Args:
         mode: 'geodesic_path' or 'greedy'
     """
-    config = habitat.get_config(config_paths="test/habitat_r2r_vln_test.yaml")
+    config = habitat.get_config(config_path="test/habitat_r2r_vln_test.yaml")
     with habitat.config.read_write(config):
         config.habitat.task.measurements.update(
             {"top_down_map": TopDownMapMeasurementConfig()}

diff --git a/habitat-baselines/habitat_baselines/agents/slam_agents.py b/habitat-baselines/habitat_baselines/agents/slam_agents.py
@@ -21,7 +21,7 @@
 from torch.nn import functional as F
 
 import habitat
-from habitat.config.default import get_config
+from habitat.config.default import get_agent_config, get_config
 from habitat.sims.habitat_simulator.actions import HabitatSimActions
 from habitat_baselines.config.default import get_config as cfg_baseline
 from habitat_baselines.slambased.mappers import DirectDepthMapper
@@ -71,11 +71,11 @@ def ResizePIL2(np_img, size=256):
 
 
 def make_good_config_for_orbslam2(config):
-    config.habitat.simulator.agent_0.sensors = ["rgb_sensor", "depth_sensor"]
-    config.habitat.simulator.rgb_sensor.width = 256
-    config.habitat.simulator.rgb_sensor.height = 256
-    config.habitat.simulator.depth_sensor.width = 256
-    config.habitat.simulator.depth_sensor.height = 256
+    agent_config = get_agent_config(config.habitat.simulator)
+    agent_config.sim_sensors.rgb_sensor.width = 256
+    agent_config.sim_sensors.rgb_sensor.height = 256
+    agent_config.sim_sensors.depth_sensor.width = 256
+    agent_config.sim_sensors.depth_sensor.height = 256
     config.TRAINER.orbslam2.camera_height = (
         config.habitat.simulator.depth_sensor.position[1]
     )
@@ -614,7 +614,7 @@ def main():
     agent_config = cfg_baseline()
     with habitat.config.read_write(config):
         config.BASELINE = agent_config.BASELINE
-    make_good_config_for_orbslam2(config)
+        make_good_config_for_orbslam2(config)
 
     if args.agent_type == "blind":
         agent = BlindAgent(config.TRAINER.orbslam2)

diff --git a/habitat-baselines/habitat_baselines/config/README.md b/habitat-baselines/habitat_baselines/config/README.md
@@ -0,0 +1,8 @@
+Habitat-Lab Configuration System
+================================
+![Habitat with Hydra](/res/img/habitat_with_hydra.png)
+
+Habitat-Lab's and Habitat-Baselines' configuration system has been changed from [YACS](https://github.com/rbgirshick/yacs)
+to [Hydra](https://hydra.cc). Please, see [habitat-lab/habitat/config/README.md](/habitat-lab/habitat/config/README.md)
+to find out more about what was changed, what new functionality is enabled and explore typical examples of
+how to work with configs.
diff --git a/habitat-baselines/habitat_baselines/config/default.py b/habitat-baselines/habitat_baselines/config/default.py
@@ -6,50 +6,38 @@
 
 import inspect
 import os.path as osp
-import threading
 from typing import Optional
 
-from hydra import compose, initialize_config_dir
-from omegaconf import DictConfig, OmegaConf
+from omegaconf import DictConfig
 
-from habitat.config.default import get_full_config_path
-from habitat.config.default_structured_configs import (
-    HabitatConfigPlugin,
-    register_hydra_plugin,
-)
+from habitat.config.default import get_config as _habitat_get_config
+from habitat.config.default_structured_configs import register_hydra_plugin
 from habitat_baselines.config.default_structured_configs import (
     HabitatBaselinesConfigPlugin,
 )
 
 _BASELINES_CFG_DIR = osp.dirname(inspect.getabsfile(inspect.currentframe()))
+# Habitat baselines config directory inside the installed package.
+# Used to access default predefined configs.
+# This is equivalent to doing osp.dirname(osp.abspath(__file__))
 DEFAULT_CONFIG_DIR = "habitat-lab/habitat/config/"
 CONFIG_FILE_SEPARATOR = ","
 
 
-lock = threading.Lock()
-
-
 def get_config(
-    config_paths: str,
+    config_path: str,
     overrides: Optional[list] = None,
+    configs_dir: str = _BASELINES_CFG_DIR,
 ) -> DictConfig:
-    register_hydra_plugin(HabitatConfigPlugin)
+    """
+    Returns habitat_baselines config object composed of configs from yaml file (config_path) and overrides.
+
+    :param config_path: path to the yaml config file.
+    :param overrides: list of config overrides. For example, :py:`overrides=["habitat_baselines.trainer_name=ddppo"]`.
+    :param configs_dir: path to the config files root directory (defaults to :ref:`_BASELINES_CFG_DIR`).
+    :return: composed config object.
+    """
     register_hydra_plugin(HabitatBaselinesConfigPlugin)
-
-    config_path = get_full_config_path(
-        config_paths, default_configs_dir=_BASELINES_CFG_DIR
-    )
-    # If get_config is called from different threads, Hydra might
-    # get initialized twice leading to issues. This lock fixes it.
-    with lock, initialize_config_dir(
-        version_base=None,
-        config_dir=osp.dirname(config_path),
-    ):
-        cfg = compose(
-            config_name=osp.basename(config_path),
-            overrides=overrides if overrides is not None else [],
-        )
-
-    OmegaConf.set_readonly(cfg, True)
+    cfg = _habitat_get_config(config_path, overrides, configs_dir)
 
     return cfg